{"id":"https://openalex.org/W2476034757","doi":"https://doi.org/10.1109/biorob.2016.7523621","title":"Novel design and 3D printing of variable stiffness robotic fingers based on shape memory polymer","display_name":"Novel design and 3D printing of variable stiffness robotic fingers based on shape memory polymer","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2476034757","doi":"https://doi.org/10.1109/biorob.2016.7523621","mag":"2476034757"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040102350","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-6216-7437"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100757196","display_name":"Yonghua Chen","orcid":"https://orcid.org/0000-0003-4020-1977"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yonghua Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":6.0376,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.97073196,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"195","last_page":"200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.748935341835022},{"id":"https://openalex.org/keywords/shape-memory-polymer","display_name":"Shape-memory polymer","score":0.7060340642929077},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6569718718528748},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6449187994003296},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.6282209753990173},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6122725009918213},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6111630797386169},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5633296370506287},{"id":"https://openalex.org/keywords/finger-joint","display_name":"Finger joint","score":0.5368175506591797},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.472496896982193},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.3937722146511078},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3236226439476013},{"id":"https://openalex.org/keywords/polymer","display_name":"Polymer","score":0.23227223753929138},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17219674587249756},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08912098407745361}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.748935341835022},{"id":"https://openalex.org/C185698529","wikidata":"https://www.wikidata.org/wiki/Q906777","display_name":"Shape-memory polymer","level":3,"score":0.7060340642929077},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6569718718528748},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6449187994003296},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.6282209753990173},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6122725009918213},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6111630797386169},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5633296370506287},{"id":"https://openalex.org/C2777781587","wikidata":"https://www.wikidata.org/wiki/Q1208242","display_name":"Finger joint","level":2,"score":0.5368175506591797},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.472496896982193},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.3937722146511078},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3236226439476013},{"id":"https://openalex.org/C521977710","wikidata":"https://www.wikidata.org/wiki/Q81163","display_name":"Polymer","level":2,"score":0.23227223753929138},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17219674587249756},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08912098407745361}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523621","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523621","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5199999809265137,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1517588719","https://openalex.org/W1812391728","https://openalex.org/W1847353717","https://openalex.org/W1868607027","https://openalex.org/W1902605501","https://openalex.org/W1978925371","https://openalex.org/W1985124115","https://openalex.org/W2010569445","https://openalex.org/W2017874355","https://openalex.org/W2041186773","https://openalex.org/W2072293370","https://openalex.org/W2118981531","https://openalex.org/W2152372923","https://openalex.org/W2162556257","https://openalex.org/W3141952980","https://openalex.org/W6638942387"],"related_works":["https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W3206105843","https://openalex.org/W4376605699","https://openalex.org/W4386823453","https://openalex.org/W3119366040","https://openalex.org/W4385356446","https://openalex.org/W4307256295","https://openalex.org/W2741455180"],"abstract_inverted_index":{"In":[0,110],"this":[1],"study,":[2],"a":[3,11,20,79],"novel":[4],"variable":[5,48,57],"stiffness":[6,49,58,161,169],"robotic":[7,118,159],"finger":[8,74,87,119],"composed":[9],"of":[10,34,78,85,122,147,167],"soft":[12,46,94],"pneumatic":[13],"actuator":[14,95],"and":[15,96,128,183],"pin":[16,71],"heaters":[17],"embedded":[18],"in":[19,31,67,103,120,178],"shape":[21],"memory":[22],"polymer":[23],"(SMP)":[24],"substrate":[25,100],"is":[26,42,88,164,174,191],"presented.":[27],"The":[28,83],"dramatic":[29],"change":[30],"elastic":[32],"modulus":[33],"SMP":[35,66,99,106,151],"around":[36],"its":[37],"glass":[38],"transition":[39],"temperature":[40],"Tg":[41],"used":[43],"to":[44,141,155],"realize":[45],"finger's":[47,160,180],"function,":[50],"which":[51],"can":[52,138],"potentially":[53],"be":[54,139],"developed":[55,105],"into":[56],"grippers":[59],"or":[60],"hands.":[61],"By":[62],"selectively":[63],"heating":[64],"the":[65,73,76,86,111,116,134,144,150,158,168,179,188],"three":[68],"regions":[69],"with":[70],"heaters,":[72],"mimics":[75],"motion":[77],"human":[80],"index":[81],"finger.":[82],"fabrication":[84],"obtained":[89],"by":[90],"combining":[91],"fiber":[92],"reinforced":[93],"3D":[97,107],"printed":[98],"using":[101],"our":[102],"house":[104],"printing":[108],"process.":[109],"experimental":[112],"section,":[113],"we":[114],"characterize":[115],"prototype":[117],"terms":[121],"heat":[123],"dissipation":[124],"rate,":[125],"bending":[126,136],"angle":[127,137],"stiffness.":[129],"Experiments":[130],"have":[131],"shown":[132],"that":[133],"controllable":[135],"up":[140],"84.5\u00b0":[142],"under":[143],"air":[145,176,181,189],"pressure":[146,177,190],"125kPa":[148],"when":[149,172,187],"joints":[152],"are":[153],"heated":[154],"65\u00b0C.":[156],"Besides,":[157],"at":[162,170],"25\u00b0C":[163],"5.76":[165],"times":[166,186],"65\u00b0C":[171],"there":[173],"no":[175],"chamber,":[182],"about":[184],"4.65":[185],"100kPa.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
